阅读说明：本技术 一体式大扭矩高频带谐波舵机 (Integrated large-torque high-frequency-band harmonic steering engine ) 是由 陈挺飞 孙丽君 于 2020-06-05 设计创作，主要内容包括：本发明公开了一种一体式大扭矩高频带谐波舵机,其包括电连接器和控制模块,其中,电连接器和控制模块连接,并且电连接器和控制模块形成为一体式结构；电连接器还与无人机的飞控与导航一体机连接,以通过电连接器接收飞控与导航一体机给定的角度信号,并将接收到的角度信号传输给控制模块；使用谐波减速器的控制模块基于飞控与导航一体机给定的角度信号转动并将舵机的实时角度经电连接器传输给飞控与导航一体机。本发明的一体式大扭矩高频带谐波舵机,由于使用谐波减速器,其具有间隙小、频带高的优势,用于控制无人机飞行舵面时,可快速响应飞控与导航一体机给定的信号,满足大机动动作时的控制要求。(The invention discloses an integrated large-torque high-frequency band harmonic steering engine which comprises an electric connector and a control module, wherein the electric connector is connected with the control module, and the electric connector and the control module form an integrated structure; the electric connector is also connected with the flight control and navigation integrated machine of the unmanned aerial vehicle, so as to receive an angle signal given by the flight control and navigation integrated machine through the electric connector and transmit the received angle signal to the control module; and the control module using the harmonic reducer rotates based on an angle signal given by the flight control and navigation integrated machine and transmits the real-time angle of the steering engine to the flight control and navigation integrated machine through the electric connector. The integrated large-torque high-frequency-band harmonic steering engine has the advantages of small gap and high frequency band due to the use of the harmonic reducer, can quickly respond to signals given by the flight control and navigation integrated machine when the unmanned aerial vehicle flies to steer, and meets the control requirement during large-motor action.)

1. The integrated large-torque high-frequency-band harmonic steering engine is characterized by comprising an electric connector (1) and a control module (2), wherein the electric connector (1) is connected with the control module (2), and the electric connector (1) and the control module (2) form an integrated structure;

the electric connector (1) is also connected with a flight control and navigation integrated machine (5) of the unmanned aerial vehicle, so that an angle signal given by the flight control and navigation integrated machine (5) is received through the electric connector (1), and the received angle signal is transmitted to the control module (2); the control module (2) using the harmonic reducer (22) rotates based on an angle signal given by the flight control and navigation integrated machine (5) and transmits the real-time angle of the steering engine to the flight control and navigation integrated machine (5) through the electric connector (1).

2. The integrated high-torque high-frequency band harmonic steering engine according to claim 1, characterized in that the control module (2) comprises an electric motor (21), a harmonic reducer (22), a control unit (23) and a potentiometer (24), wherein,

the electric motor (21) is connected to the harmonic reducer (22), the output shaft of the harmonic reducer (22) is connected in series to the potentiometer (24), the control unit (23) is connected to the electric motor (21) and the potentiometer (24), and the control unit (23) is also connected to the electrical connector (1),

the control unit (23) can drive the motor (21) to rotate based on an angle signal given by the flight control and navigation integrated machine (5) received by the electric connector (1), the harmonic reducer (22) is driven to rotate by the rotation of the motor (21), the real-time angle output by the steering engine is fed back to the control unit (23) through the potentiometer (24) connected with the output shaft of the harmonic reducer (22) in series, and the real-time angle output by the steering engine is fed back to the flight control and navigation integrated machine (5) by the control unit (23) through the electric connector (1).

3. The integrated high-torque high-frequency band harmonic steering engine according to claim 1, characterized in that the electrical connector (1) comprises a power supply unit (11) and an analog unit (12), wherein,

the power supply unit (11) is connected with the control unit (23) so as to supply power to the control unit (23) through the power supply unit (11);

the simulation unit (12) is connected with the flight control and navigation integrated machine (5) and the control unit (23) so as to receive an angle signal given by the flight control and navigation integrated machine (5) through the simulation unit (12) and transmit the received angle signal to the control unit (23), and the simulation unit (12) is also used for receiving a real-time angle of the steering engine output by the control unit (23) and feeding back the received real-time angle to the flight control and navigation integrated machine (5).

4. The integrated large-torque high-frequency-band harmonic steering engine according to claim 1, further comprising a housing (3), wherein the electrical connector (1) is disposed on the housing (3); the motor (21), the control unit (23) and the potentiometer (24) of the control module (2) are arranged in the shell (3); the harmonic reducer (22) is arranged below the shell (3).

5. The integrated high-torque high-frequency-band harmonic steering engine according to claim 4, wherein the housing (3) is connected with the harmonic reducer (22) in a threaded manner.

6. The integrated high-torque high-frequency-band harmonic steering engine according to claim 4, further comprising a transition plate (4), wherein the transition plate (4) comprises a first side plate (41), a second side plate (42) and a flat plate (43), and wherein the control unit (23) is mounted on the flat plate (43);

the first side plate (41) and the second side plate (42) are positioned on two sides of the flat plate (43) and are attached to the inner surface of the shell (3).

7. The integrated high-torque high-frequency band harmonic steering engine according to claim 2, wherein the output shaft of the motor (21) is connected with the harmonic reducer (22) in a threaded manner.

8. The integrated high-torque high-frequency band harmonic steering engine according to claim 2, wherein the potentiometer (24) is connected with an output shaft of the harmonic reducer (22) in a threaded manner.

9. The integrated high-torque high-frequency band harmonic steering engine according to claim 2, wherein the motor (21) is a coreless motor.

10. The integrated high-torque high-frequency band harmonic steering engine according to claim 1, wherein the steering engine is used for being mounted in a wing and/or a rear fuselage of a drone.

Technical Field

The invention relates to the technical field of aviation, in particular to an integrated large-torque high-frequency band harmonic steering engine.

Background

At present, the steering engine of a planetary speed reducer or a gear speed reducer is mostly used by an unmanned aerial vehicle, the defects of large gap and low frequency band exist, and the control requirement during large maneuvering action cannot be met.

Therefore, in order to make up for the lack of a large-torque high-frequency-band steering engine in the existing unmanned aerial vehicle, the technical problem to be solved by the technical staff in the field is to provide the large-torque high-frequency-band steering engine for controlling the large-maneuvering action control surface of the unmanned aerial vehicle.

Disclosure of Invention

The invention provides an integrated large-torque high-frequency-band harmonic steering engine, and solves the technical problem that an unmanned aerial vehicle in the prior art is lack of a large-torque high-frequency-band steering engine, so that the existing unmanned aerial vehicle cannot meet the control requirement during large maneuvering action. The various technical effects that can be produced by the preferred technical solution of the present invention are described in detail below.

In order to achieve the purpose, the invention provides the following technical scheme:

the integrated large-torque high-frequency-band harmonic steering engine comprises an electric connector and a control module, wherein the electric connector is connected with the control module, and the electric connector and the control module form an integrated structure; the electric connector is also connected with a flight control and navigation integrated machine of the unmanned aerial vehicle, so as to receive an angle signal given by the flight control and navigation integrated machine through the electric connector and transmit the received angle signal to the control module; and the control module using the harmonic reducer rotates based on the angle signal given by the flight control and navigation integrated machine and transmits the real-time angle of the steering engine to the flight control and navigation integrated machine through the electric connector.

According to a preferred embodiment, the control module comprises an electric motor, a harmonic reducer, a control unit and a potentiometer, wherein the motor is connected with the harmonic reducer, an output shaft of the harmonic reducer is connected with the potentiometer in series, the control unit is connected with the motor and the potentiometer, the control unit is also connected with the electric connector, so that the control unit can drive the motor to rotate based on an angle signal given by the flight control and navigation integrated machine received by the electric connector, and the harmonic reducer is driven to rotate by the rotation of the motor, the potentiometer connected with the output shaft of the harmonic reducer in series feeds back the real-time angle output by the steering engine to the control unit, and the control unit feeds back the real-time angle output by the steering engine to the flight control and navigation integrated machine through the electric connector.

According to a preferred embodiment, the electrical connector comprises a power supply unit and an analog unit, wherein the power supply unit is connected with a control unit to supply power to the control unit through the power supply unit; the simulation unit is connected with the flight control and navigation all-in-one machine and the control unit so as to receive the angle signal given by the flight control and navigation all-in-one machine through the simulation unit and transmit the received angle signal to the control unit, and the simulation unit is also used for receiving the real-time angle of the steering engine output by the control unit and feeding back the received real-time angle to the flight control and navigation all-in-one machine.

According to a preferred embodiment, the integrated large-torque high-frequency band harmonic steering engine further comprises a shell, and the electric connector is arranged on the shell; the motor, the control unit and the potentiometer of the control module are arranged in the shell; the harmonic reducer is arranged below the shell.

According to a preferred embodiment, the housing is in threaded connection with the harmonic reducer.

According to a preferred embodiment, the integrated high-torque high-frequency band harmonic steering engine further comprises a transition plate, wherein the transition plate comprises a first side plate, a second side plate and a flat plate, and the control unit is installed on the flat plate; the first side plate and the second side plate are positioned on two sides of the flat plate and are attached to the inner surface of the shell.

According to a preferred embodiment, the output shaft of the motor is in threaded connection with the harmonic reducer.

According to a preferred embodiment, the potentiometer is in threaded connection with the output shaft of the harmonic reducer.

According to a preferred embodiment, the motor is a coreless motor.

According to a preferred embodiment, the steering engine is used for being mounted in a wing and/or a rear fuselage of the drone.

The integrated large-torque high-frequency-band harmonic steering engine provided by the invention at least has the following beneficial technical effects:

the integrated large-torque high-frequency-band harmonic steering engine has the advantages of small gap and high frequency band due to the use of the harmonic reducer, can quickly respond to signals given by the flight control and navigation integrated machine when the unmanned aerial vehicle flies to steer, and meets the control requirement during large-motor action. According to the integrated large-torque high-frequency band harmonic steering engine, the control module of the harmonic reducer is used for controlling the flight control surface of the unmanned aerial vehicle, so that the technical problem that the existing unmanned aerial vehicle cannot meet the control requirement during large maneuvering action due to the fact that the unmanned aerial vehicle in the prior art lacks a large-torque high-frequency band steering engine is solved.

On the other hand, the integrated large-torque high-frequency-band harmonic steering engine comprises an electric connector and a control module, wherein the electric connector and the control module form an integrated structure, and the integrated large-torque high-frequency-band harmonic steering engine has the advantages of compact structure, small occupied space when being installed on a target drone and high stability.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic block diagram of an integrated high torque high frequency band harmonic steering engine of the present invention;

FIG. 2 is a schematic diagram of the external structure of the integrated large-torque high-frequency band harmonic steering engine of the present invention;

FIG. 3 is a first schematic diagram of the internal structure of the integrated high-torque high-frequency band harmonic steering engine of the invention;

FIG. 4 is a second schematic diagram of the internal structure of the integrated high-torque high-frequency band harmonic steering engine of the invention.

In the figure: 1. an electrical connector; 11. a power supply unit; 12. an analog unit; 2. a control module; 21. a motor; 22. a harmonic reducer; 23. a control unit; 24. a potentiometer; 3. a housing; 4. a transition plate; 41. a first side plate; 42. a second side plate; 43. a flat plate; 5. flight control and navigation all-in-one.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

The integrated large-torque high-frequency band harmonic steering engine of the embodiment is described in detail below with reference to the accompanying drawings 1 to 4 in the specification.

The integrated large-torque high-frequency band harmonic steering engine comprises an electric connector 1 and a control module 2, as shown in fig. 1. Preferably, the electrical connector 1 and the control module 2 are connected, and the electrical connector 1 and the control module 2 are formed as an integral structure, as shown in fig. 2. Preferably, the electrical connector 1 is further connected to the integrated flight control and navigation machine 5 of the unmanned aerial vehicle, so as to receive an angle signal given by the integrated flight control and navigation machine 5 through the electrical connector 1, and transmit the received angle signal to the control module 2. The control module 2 using the harmonic reducer 22 rotates based on an angle signal given by the flight control and navigation integrated machine 5 and transmits the real-time angle of the steering engine to the flight control and navigation integrated machine 5 through the electric connector 1.

The integral type big moment of torsion high frequency band harmonic steering wheel of this embodiment owing to use harmonic speed reducer 22, has the advantage that the clearance is little, the frequency band is high for when controlling unmanned aerial vehicle flight rudder face, but the control of quick response flight and the given signal of navigation all-in-one 5, the control requirement when satisfying big motor-driven action. The big moment of torsion high frequency band harmonic steering wheel of integral type of this embodiment promptly, through the control of control module 2 that uses harmonic speed reducer 22 to unmanned aerial vehicle flight control surface, solved unmanned aerial vehicle among the prior art and lacked big moment of torsion high frequency band steering wheel for the technical problem of the control requirement when current unmanned aerial vehicle can't satisfy big maneuver.

On the other hand, the big moment of torsion high frequency band harmonic steering engine of integral type of this embodiment, including electric connector 1 and control module 2, electric connector 1 and control module 2 form the integral type structure, have compact structure, install the advantage that occupation space is little, the steadiness is high on the target drone.

According to a preferred embodiment, the control module 2 comprises an electric motor 21, a harmonic reducer 22, a control unit 23 and a potentiometer 24, as shown in fig. 1. Preferably, the motor 21 is connected with the harmonic reducer 22, an output shaft of the harmonic reducer 22 is connected with the potentiometer 24 in series, the control unit 23 is connected with the motor 21 and the potentiometer 24, and the control unit 23 is further connected with the electrical connector 1, so that the control unit 23 can drive the motor 21 to rotate based on an angle signal given by the flight control and navigation integrated machine 5 received by the electrical connector 1, the harmonic reducer 22 is driven to rotate by the rotation of the motor 21, the real-time angle output by the steering engine is fed back to the control unit 23 through the potentiometer 24 connected with the output shaft of the harmonic reducer 22 in series, and the real-time angle output by the steering engine is fed back to the flight control and navigation integrated machine 5 by the control unit 23 through the electrical connector 1.

Preferably, the control unit 23 of this embodiment is configured to complete data processing, receive remote control data, and control the unmanned aerial vehicle. The control Unit 23 may be a general-purpose Processor, including a Micro Controller Unit (MCU), a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. A general purpose processor may be a microprocessor; but may be any conventional processor or the like.

The control module 2 of the preferred technical scheme of the embodiment comprises a motor 21, a harmonic reducer 22, a control unit 23 and a potentiometer 24, and mainly completes control surface control of the drone aircraft. Preferably, the harmonic reducer is used in the integrated large-torque high-frequency band harmonic steering engine in the preferred technical scheme of the embodiment, and has the advantage of small gap, so that the integrated large-torque high-frequency band harmonic steering engine has the advantages of small gap (6') and high frequency band (10 Hz).

Specifically, the control unit 23 drives the motor 21 to rotate rapidly according to an angle signal given by the flight control and navigation integrated machine 5, the harmonic reducer 22 is driven to rotate through the rotation of the motor 21, the potentiometer 24 is connected in series with an output shaft of the harmonic reducer 22, the potentiometer 24 feeds the angle output by the steering engine back to the control unit 23 in real time, the control unit 23 also feeds the received angle of the steering engine fed back by the potentiometer 24 back to the flight control and navigation integrated machine 5 in real time, when the angle given by the flight control and navigation integrated machine 5 is reached, the control unit 23 stops driving signal output, and the steering engine keeps the current position.

According to a preferred embodiment, the electrical connector 1 comprises a power supply unit 11 and an analog unit 12, as shown in fig. 1. Preferably, the power supply unit 11 is connected to the control unit 23 to supply power to the control unit 23 through the power supply unit 11. Preferably, the simulation unit 12 is connected to the flight control and navigation integrated machine 5 and the control unit 23, so as to receive an angle signal given by the flight control and navigation integrated machine 5 through the simulation unit 12 and transmit the received angle signal to the control unit 23, and the simulation unit 12 is further configured to receive a real-time angle of the steering engine output by the control unit 23 and feed back the received real-time angle to the flight control and navigation integrated machine 5. The electric connector 1 of the preferred technical scheme of this embodiment includes a power supply unit 11 and a simulation unit 12, the power supply unit 11 is used for supplying power to a control unit 23, and the simulation unit 12 is used for receiving the given angle of the flight control and navigation integrated machine 5 and feeding back the angle of the steering engine to the flight control and navigation integrated machine 5.

According to a preferred embodiment, the integrated high-torque high-frequency band harmonic steering engine further comprises a housing 3. Preferably, the electrical connector 1 is arranged on the housing 3, as shown in fig. 2. The motor 21, the control unit 23 and the potentiometer 24 are disposed within the housing 3, as shown in fig. 3 or 4. Fig. 3 and 4 omit the housing 3 and the electrical connector 1 on the housing 3 in order to show the structure inside the housing 3. The harmonic reducer 22 is disposed below the housing 3, as shown in fig. 2 to 4. More preferably, the housing 3 is threadedly coupled to the harmonic reducer 22.

In the preferred embodiment, the electric connector 1 is disposed on the housing 3, the motor 21, the control unit 23 and the potentiometer 24 are disposed in the housing 3, and the harmonic reducer 22 is disposed below the housing 3, so that the structures form an integrated structure, and the reliability is high. On the other hand, in the preferred technical solution of the present embodiment, the motor 21, the control unit 23 and the potentiometer 24 are disposed in the housing 3, and the motor 21, the control unit 23 and the potentiometer 24 are encapsulated by the housing 3, so that the internal components can be protected, the dustproof and waterproof functions can be achieved, and the reliability of the control module 2 is high. The shell 3 and the harmonic reducer 22 of the preferred technical scheme of the embodiment are connected in a threaded manner, and have the advantage of convenient assembly and disassembly.

According to a preferred embodiment, the integrated high-torque high-frequency band harmonic steering engine further comprises a transition plate 4, as shown in fig. 3 or 4. Preferably, the transition plate 4 comprises a first side plate 41, a second side plate 42 and a flat plate 43, wherein the control unit 23 is mounted on the flat plate 43; the first side plate 41 and the second side plate 42 are located on both sides of the flat plate 43 and are attached to the inner surface of the housing 3, as shown in fig. 3.

According to the preferred technical scheme of the embodiment, the control unit 23 is mounted on the flat plate 43 of the transition plate 4, the heat of the control unit 23 can be transmitted to the first side plate 41 and the second side plate 42 through the flat plate 43, and then the heat is transmitted to the shell 3 to be dissipated through the first side plate 41 and the second side plate 42, so that the overhigh temperature of the control unit 23 is avoided, and the reliability of the control unit 23 can be improved.

According to a preferred embodiment, the output shaft of the motor 21 is threadedly connected to the harmonic reducer 22. The output shaft of the motor 21 and the harmonic reducer 22 of the preferred technical scheme of the embodiment are connected in a threaded manner, and the motor has the advantages of convenience in disassembly and assembly and good reliability.

According to a preferred embodiment, the potentiometer 24 is threadedly coupled to the output shaft of the harmonic reducer 22. The potentiometer 24 of the preferred technical scheme of this embodiment is connected with the output shaft of the harmonic reducer 22 in a threaded manner, and has the advantages of convenient assembly and disassembly and good reliability.

According to a preferred embodiment, the motor 21 is a coreless motor. The motor 21 of the preferred technical scheme of this embodiment is a coreless motor, and has the advantages of high response speed and high efficiency.

According to a preferred embodiment, the integrated high-torque high-frequency band harmonic steering engine is used for being installed in the wing and/or the rear fuselage of the drone. The integrated large-torque high-frequency band harmonic steering engine in the preferred technical scheme of the embodiment is arranged in the wings and/or the rear fuselage of the target drone, so that the control functions of ailerons, lifting and directional control surfaces can be realized.

The integrated large-torque high-frequency-band harmonic steering engine is used for controlling the control surface of a large-scale large-motor unmanned aerial vehicle, the rocker arm or the connecting rod is connected through the output of the rotating shaft of the steering engine, the control surface is controlled, signals given by the flight control and navigation integrated machine 5 can be responded quickly, and the requirement for meeting the flight control of the large-motor unmanned aerial vehicle is met.

It is understood that the same or similar parts in the present embodiment may be mutually referred to, and the same or similar contents in other embodiments may be referred to for the contents which are not described in detail in some embodiments.

It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.

The term "connection" as used herein may refer to one or more of a data connection, a communication connection, a wired connection, a wireless connection, a connection via a physical connection, and the like, as will be appreciated by those skilled in the art.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.